#include "hal_data.h"
#include "./utils.h"
#include <microros_transports.h>
#include <microros_allocators.h>

#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <rcutils/allocator.h>
#include <rmw_microros/rmw_microros.h>

FSP_CPP_HEADER
void R_BSP_WarmStart(bsp_warm_start_event_t event);
FSP_CPP_FOOTER

/*******************************************************************************************************************//**
 * main() is generated by the RA Configuration editor and is used to generate threads if an RTOS is used.  This function
 * is called by main() when no RTOS is used.
 **********************************************************************************************************************/

void microros_app(void);

void hal_entry(void)
{
#if BSP_TZ_SECURE_BUILD
    /* Enter non-secure code */
    R_BSP_NonSecureEnter();
#endif

    rmw_uros_set_custom_transport(
      true,
      (void *) NULL,
      renesas_e2_transport_open,
      renesas_e2_transport_close,
      renesas_e2_transport_write,
      renesas_e2_transport_read
    );

    rcl_allocator_t custom_allocator = rcutils_get_zero_initialized_allocator();
    custom_allocator.allocate = microros_allocate;
    custom_allocator.deallocate = microros_deallocate;
    custom_allocator.reallocate = microros_reallocate;
    custom_allocator.zero_allocate =  microros_zero_allocate;

    if (!rcutils_set_default_allocator(&custom_allocator)) {
        printf("Error on default allocators (line %d)\n", __LINE__);
    }

    set_led_status(LED_BLUE, true);

    microros_app();
}

/*******************************************************************************************************************//**
 * This function is called at various points during the startup process.  This implementation uses the event that is
 * called right before main() to set up the pins.
 *
 * @param[in]  event    Where at in the start up process the code is currently at
 **********************************************************************************************************************/
void R_BSP_WarmStart(bsp_warm_start_event_t event)
{
    if (BSP_WARM_START_RESET == event)
    {
#if BSP_FEATURE_FLASH_LP_VERSION != 0

        /* Enable reading from data flash. */
        R_FACI_LP->DFLCTL = 1U;

        /* Would normally have to wait tDSTOP(6us) for data flash recovery. Placing the enable here, before clock and
         * C runtime initialization, should negate the need for a delay since the initialization will typically take more than 6us. */
#endif
    }

    if (BSP_WARM_START_POST_C == event)
    {
        /* C runtime environment and system clocks are setup. */

        /* Configure pins. */
        R_IOPORT_Open (&g_ioport_ctrl, &g_bsp_pin_cfg);
    }
}

#if BSP_TZ_SECURE_BUILD

BSP_CMSE_NONSECURE_ENTRY void template_nonsecure_callable ();

/* Trustzone Secure Projects require at least one nonsecure callable function in order to build (Remove this if it is not required to build). */
BSP_CMSE_NONSECURE_ENTRY void template_nonsecure_callable ()
{

}
#endif
